树莓派（五）：步进电机的控制

0 准备

电机：两级四线单机步进电机
驱动模块： 驱动模块

1 接线

pin40接脉冲－
pin38接脉冲+
pin36接方向-
pin35接方向+

调速

根据下图黄色框框所说明的，当S4闭合的时候，200个脉冲一转以此类推，如下第二张图所示，为S1和S4的闭合

import RPi.GPIO as GPIO
import time
 
IN1 = 40    # pin40
IN2 = 38
IN3 = 36
IN4 = 35
 
def setStep(w1, w2, w3, w4):
    GPIO.output(IN1, w1)
    GPIO.output(IN2, w2)
    GPIO.output(IN3, w3)
    GPIO.output(IN4, w4)
 
def stop():
    setStep(0, 0, 0, 0)
 
def forward(delay, steps):  
    for i in range(0, steps):
        setStep(1, 0, 1, 0)
        time.sleep(delay)
        setStep(0, 1, 1, 0)
        time.sleep(delay)
        setStep(0, 1, 0, 1)
        time.sleep(delay)
        setStep(1, 0, 0, 1)
        time.sleep(delay)
 
def backward(delay, steps):  
    for i in range(0, steps):
        setStep(1, 0, 0, 1)
        time.sleep(delay)
        setStep(0, 1, 0, 1)
        time.sleep(delay)
        setStep(0, 1, 1, 0)
        time.sleep(delay)
        setStep(1, 0, 1, 0)
        time.sleep(delay)
 
def setup():
    GPIO.setwarnings(False)
    GPIO.setmode(GPIO.BOARD)       # Numbers GPIOs by physical location
    GPIO.setup(IN1, GPIO.OUT)      # Set pin's mode is output
    GPIO.setup(IN2, GPIO.OUT)
    GPIO.setup(IN3, GPIO.OUT)
    GPIO.setup(IN4, GPIO.OUT)
 
def loop():
    while True:
        print ("backward...")
        backward(0.00003, 1000)  #0.00003为发射脉冲的时间间隔，单位为秒，1000代表发射脉冲的个数
        
        print ("stop...")
        stop()                 # stop
        time.sleep(3)          # sleep 3s
        
        print ("forward...")
        forward(0.00005, 1000)
        
        print ("stop...")
        stop()
        time.sleep(3)
 
def destroy():
    GPIO.cleanup()             # 释放数据
 
if __name__ == '__main__':     # Program start from here
    setup()
    try:
        loop()
    except KeyboardInterrupt:  # When 'Ctrl+C' is pressed, the child function destroy() will be  executed.
        destroy()